BodyEnergy2D/3D

• BodyEnergy[bnum] returns the kinetic energy possessed by body bnum.• The bnum argument can take any of the forms accepted by Loads to obtain energy terms from multiple bodies.

• BodyEnergy[All] returns the total kinetic energy of the entire system.• BodyEnergy returns the body's mass and inertia matrices pre- and post-multiplied by the body's velocity and angular velocity vectors, resulting in .• See also: Omega, Velocity.

Further Examples

Load the Modeler3D package and define a simple model.

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When angular velocity is given in terms of local angular coordinates, then the total energy of a body with its centroid located at the local origin is the familiar expression . To show this, we first rebuild the help model in local angular coordinates.

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Here is the total energy of the link body, given its mass of 10.0 and principal moments of inertia {1.0, 25.0, 25.0}.

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A change of modeling coordinate system makes the energy expression substantially more complex.